CN103971578A - Patrol robot teaching device and control method thereof - Google Patents
Patrol robot teaching device and control method thereof Download PDFInfo
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- CN103971578A CN103971578A CN201410099951.9A CN201410099951A CN103971578A CN 103971578 A CN103971578 A CN 103971578A CN 201410099951 A CN201410099951 A CN 201410099951A CN 103971578 A CN103971578 A CN 103971578A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention relates to a patrol robot teaching device and a control method thereof, and aims to solve the problem of imperfection of an existing linking system of the prior art. The device is characterized by comprising a patrol robot, a plurality of executing robots, a remote controller and a computer; the patrol robot, the executing robots and the remote controller are connected to the computer in a communicating manner; the patrol robot comprises an independent power supply mounted on a patrol robot body, a patrol signal receiving device, a patrol signal emitting device, a patrol robot walking mechanism, a patrol detection sensor and a patrol robot ARM main controller; the executing robots comprise independent power supply mounted on executing robot bodies, executing detecting sensors, executing signal receiving devices, executing signal emitting devices, executing robot walking mechanisms, executing robot executing parts and executing robot ground-proximity control units. By the aid of the patrol robot teaching device, experiment equipment cost and encoding difficulty are reduced.
Description
Technical field
The invention belongs to automated teaching equipment, relate to a kind of patrol robot instructional device and control method thereof.
Background technology
Along with the expansion of the application of intelligent robot, people expect that intelligent robot is mankind's service in more areas, replaces the mankind to complete more complicated work.A large amount of industrial robots, military robot, service robot are developed application.But current robot mostly is simple function, independent operation, the combination colony that lacking to cooperate finishes the work.And most robots are still in the simple execute phase, mechanism of information feedback imperfection, intelligent degree has much room for improvement.Man-machine interaction link, also still in weaker, lack and is available for users to the simple man-machine interface of using.Be directed to this three classes problem, needing to propose and designing suitable application area is that campus, resident's Living Area, industrial premises etc. need the long-term place of regularly patrolling of people, the robot that can liberate a part of labour.And these are also universities and colleges of current university to cultivating student's directions, therefore develop a kind of patrol robot instructional device and control method imperative.
The applicant once applied for: a kind of robot teaching's experiment table, by Power supply, comprise test platform and robot, and described robot comprises base control system, select part, the main installing plate of driving wheel is installed, accessory mounting plate and expansion link, described base control system is fixed on main installing plate, between described main installing plate and accessory mounting plate, by expansion link, be connected, on described accessory mounting plate, be provided with several for mating the mounting hole of selecting part, described base control system comprises processor, the multiplexing input interface of digital simulation, motor-drive circuit, drive motor, storer, servo driving circuit, steering wheel and interface circuit, described processor is electrically connected to drive motor by motor-drive circuit, and described processor is electrically connected to steering wheel by servo driving circuit, the multiplexing input interface of described digital simulation, storer and interface circuit are all electrically connected to described processor, and described interface circuit is electrically connected to the described part of selecting, and described driving wheel is driven by the output shaft of drive motor, and the direction of described driving wheel is controlled by steering wheel, described test platform comprises platform processor, platform input keyboard, timing chip, generating means option and generating means interface, described platform input keyboard, timing chip and generating means interface are all electrically connected to described platform processor, and described generating means option is electrically connected to described generating means interface.This technical scheme is subject to student's welcome very much, but he still has linked system imperfection, can only control separately, lacks the problem of interlock, is not suitable for the experiment of multirobot interlock.
Summary of the invention
The invention solves prior art and have linked system imperfection, can only control separately, lack the problem of interlock, provide a kind of linkage good, patrol robot instructional device and the control method thereof of the combination population experiment of finishing the work of being applicable to cooperating.
The technical solution adopted for the present invention to solve the technical problems is: a kind of patrol robot instructional device, comprises patrol robot, several carry out robot, remote controllers and computer, described patrol robot is connected with described compunlcation, described several are carried out robot and are also connected with described compunlcation, described remote controllers are connected with described compunlcation, and described patrol robot comprises the independent current source being arranged on the man-machine body of patrol machine, patrol signal receiving device, patrol sender unit, patrol robot travel mechanism, patrol detecting sensor and patrol robot ARM primary controller, patrol robot is powered by independent current source, described patrol robot ARM primary controller respectively with patrol signal receiving device, patrol sender unit, patrol robot travel mechanism and patrol detecting sensor are electrically connected to, and described execution robot includes and is arranged on the independent power supply of carrying out on the man-machine body of machine, carry out detecting sensor, executive signal receiving trap, executive signal emitter, carry out robot running gear and carry out robot and carry out accessory, carry out robot near-earth control module, described execution robot is by independent Power supply, described execution detecting sensor, executive signal receiving trap, executive signal emitter, carry out robot running gear and carry out robot execution accessory and be all electrically connected to described execution robot near-earth control module.System, by simple structure and connected mode, is mainly core by embedded OS, adopts ARM hardware controls.Its basic hardware framework is comprised of multirobot, is divided into patrol robot, carries out robot two class class robot system cooperations.By patrol robot, command the collaborative work of a plurality of robots, and reported without delay situation.Patrol robot is equivalent to mankind secretary's intelligence, mainly lays particular emphasis on monitor and command arrangement, then carries out accordingly robot and has gone corresponding work.Such robot system can solve robot and can only make and produce very large constraint according to a class environment or application, and he can be operated under multiple environment.This system is by greatly strengthening the adaptability of its environment to the design of patrol robot, makes cooperation between the robot possibility that becomes.The software section code of this system can be used c/c++ compile mode, bottom code encapsulates, and substantially carries out instruction encapsulation, the expansion port of designing program, student or user can select to add combination according to the demand of oneself, are applicable to student and operate in computer client.Cell-phone customer terminal is synchronizeed with computer, can send set instruction, and simultaneously timely collection information feedback.Use feedack clearer and more definite, the more acceptant and study of student.
As preferably, the body of described execution robot is the casing of opening upwards, described casing front side is moveable hinge fishplate bar, described execution robot carries out accessory and comprises the track being provided on box bottom, and swivel mount, crane, fixed arm, horizontal motor, electric rotating machine and lifting motor, the bottom of described crane is fixedly connected with horizontal motor, on horizontal motor output shaft, be connected with rail wheel, described rail wheel and described Orbit Matching, described crane comprises support body and brace table, in described support body, be provided with lifting motor, described lifting motor output shaft is connected with brace table by leading screw, upper surface and the electric rotating machine of brace table are fixed, the output shaft of described electric rotating machine is fixedly connected with one end of described fixed arm, the other end of described fixed arm is free end, on described free end, be provided with the semisphere outer cover that Open Side Down, on described semisphere outer cover, be provided with web member or shackle member, described horizontal motor, the driving circuit of electric rotating machine and lifting motor is all electrically connected to described near-earth control module, described horizontal motor, on the output shaft of electric rotating machine and lifting motor, be provided with photoelectric coded disk, the output terminal of described photoelectric coded disk is all electrically connected to near-earth control module.Arrange like this, having increased various photoelectric coded disks feeds back, and arrange like this, carry out robot and can adapt to various operational orders, can reach the operation of various tasks and complete, can mate kinds of experiments equipment, reduce cost and the coding difficulty of experimental facilities, can simply operate.
As preferably, the execution detecting sensor of described execution robot is digital camera and range sensor, executive signal receiving trap is radiofrequency signal receiver module, executive signal emitter is emission of radio frequency signals module, carry out robot running gear and comprise the driving wheel that is fixed on the man-machine body of execution machine below, be arranged on the travel driving motor of carrying out the man-machine body lower surface of machine, described travel driving motor is in transmission connection by gear train and driving wheel, carrying out robot near-earth control module is single-chip microcomputer, described digital camera is arranged on described semisphere outer cover or the lower surface of casing.
As preferably, described execution robot comprises sanitation robot, firefighting robot and transfer robot, the execution accessory of described sanitation robot also comprises broom and rotating clamp fitting, described semisphere external cover is located at the outside of rotating clamp fitting, in described rotating clamp fitting, be provided with micro-electric rotating machine, the output shaft of described micro-electric rotating machine is by STATEMENT OF FEDERALLY SPONSORED and described broom clamping, on the output shaft of described micro-electric rotating machine, be also provided with the photoelectric coded disk being electrically connected to near-earth control module, the driving circuit of described micro-electric rotating machine is also electrically connected to described near-earth control module, the execution accessory of described transfer robot also comprises pallet fork and connecting link, and the upper surface at described pallet fork middle part is fixedly connected with the lower end of connecting link, and the upper end of described connecting link and described semisphere outer cover are spirally connected, it is press device and palace lantern-type flame snuffer that the execution robot of described firefighting robot carries out accessory, and described semisphere external cover is located at the outside of palace lantern-type flame snuffer, and described press device is fixed on the front end of described moveable hinge fishplate bar.
As preferably, described patrol robot ARM primary controller is electrically connected with several program storages by patrol robot commutation circuit, and described execution robot near-earth control module is also electrically connected with several program storages by carrying out robot commutation circuit.Arrange like this, can arrange comparatively flexibly program that teacher writes and student's program, play the effect of quick switching, also reduced the burning number of times of program storage.
As preferably, be arranged on program storage on patrol robot and comprise a patrol that correct procedure is installed program storage and several patrol student program storages for debugging for demonstration, patrol demonstration is all electrically connected to patrol robot ARM primary controller by commutation circuit with program storage and patrol student program storage, be arranged on the program storage of carrying out in robot and comprise an execution that correct procedure is installed program storage and several execution student program storages for debugging for demonstration, carry out demonstration with program storage and carry out student's program storage and all by commutation circuit, be electrically connected to execution robot near-earth control module.
A patrol robot instructional device control method, is applicable to patrol robot instructional device as claimed in claim 4, it is characterized in that:
Step 1: device initialize, wait for artificial setting or change the work overview that need to complete;
Step 2: patrol robot receives task and goes on patrol on the spot, if do not find after having gone on patrol that task or task complete, jump procedure one, if discovery situation in patrol process performs step three;
Step 3: patrol robot sends instruction according to present case to corresponding execution robot, carries out robot and receives instruction, and judgement carries out robot and whether complete relevant work, if relevant work continues to perform step two otherwise continue execution step four;
Step 4: carry out robot and receive signal and start to carry out relevant work to relevant position, and field conditions is fed back, present case is fed back to patrol robot.
As preferably, in described step 1, user on remote controllers artificial set or change the work overview that need to complete then transfer to computer, by computer, transmit and distribute.
Substantial effect of the present invention is: linkage is good, the combination population experiment that is applicable to cooperating and finishes the work, having increased various photoelectric coded disks feeds back, and arrange like this, carry out robot and can adapt to various operational orders, can reach the operation of various tasks and complete, can mate kinds of experiments equipment, the cost and the coding difficulty that have reduced experimental facilities, can simply operate.
Accompanying drawing explanation
Fig. 1 is a kind of system architecture schematic diagram of the present invention;
Fig. 2 is a kind of circuit block diagram of patrol robot in the present invention;
Fig. 3 is a kind of circuit block diagram of carrying out robot in the present invention;
Fig. 4 is the structural representation of carrying out robot in the present invention.
In figure: 1, computer, 2, remote controllers, 3, patrol robot, 4, carry out robot, 5, commutation circuit, 31, patrol robot ARM primary controller, 32, patrol detecting sensor, 33, patrol demonstration program storage, 34, patrol student program storage, 35, patrol signal receiving device, 36, patrol sender unit, 37, travel mechanism driver, 38, patrol robot travel mechanism, 41, carry out robot near-earth control module, 42, carry out detecting sensor, 43, carry out demonstration program storage, 44, carry out student's program storage, 45, executive signal receiving trap, 46, executive signal emitter, 48, carry out robot running gear, 49, carry out robot and carry out accessory, 51, casing, 52, moveable hinge fishplate bar, 53, fixed arm, 54, semisphere outer cover.
Embodiment
Below by specific embodiment, technical scheme of the present invention is described in further detail.
Embodiment:
A kind of patrol robot instructional device, comprise patrol robot 3, several carry out robot 4, remote controllers 2 and computer 1, described patrol robot is connected with described compunlcation, described several are carried out robot and are also connected with described compunlcation, described remote controllers are connected with described compunlcation, described patrol robot comprises the independent current source being arranged on the man-machine body of patrol machine, patrol signal receiving device 35, patrol sender unit 36, patrol robot travel mechanism 38, patrol detecting sensor 32 and patrol robot ARM primary controller 31, patrol robot is powered by independent current source, described patrol robot ARM primary controller respectively with patrol signal receiving device, patrol sender unit and patrol detecting sensor are electrically connected to, patrol robot travel mechanism is electrically connected to patrol robot ARM primary controller by corresponding travel mechanism driver 37, described execution robot includes and is arranged on the independent power supply of carrying out on the man-machine body of machine, carry out detecting sensor 42, executive signal receiving trap 45, executive signal emitter 46, carry out robot running gear 48 and carry out robot and carry out accessory 49, carry out robot near-earth control module 41, described execution robot is by independent Power supply, described execution detecting sensor, executive signal receiving trap, executive signal emitter and execution robot carry out accessory and are all electrically connected to described execution robot near-earth control module.Carrying out robot running gear is electrically connected to execution robot near-earth control module by corresponding travel mechanism driver.The driver that travel mechanism driver in the present embodiment is identical chips.The body of described execution robot is the casing 51 of opening upwards, described casing front side is moveable hinge fishplate bar 52, described execution robot carries out accessory and comprises the track being provided on box bottom, and swivel mount, crane, fixed arm 53, horizontal motor, electric rotating machine and lifting motor, the bottom of described crane is fixedly connected with horizontal motor, on horizontal motor output shaft, be connected with rail wheel, described rail wheel and described Orbit Matching, described crane comprises support body and brace table, in described support body, be provided with lifting motor, described lifting motor output shaft is connected with brace table by leading screw, upper surface and the electric rotating machine of brace table are fixed, the output shaft of described electric rotating machine is fixedly connected with one end of described fixed arm, the other end of described fixed arm is free end, on described free end, be provided with the semisphere outer cover 54 that Open Side Down, on described semisphere outer cover, be provided with web member or shackle member, described horizontal motor, the driving circuit of electric rotating machine and lifting motor is all electrically connected to described near-earth control module, described horizontal motor, on the output shaft of electric rotating machine and lifting motor, be provided with photoelectric coded disk, the output terminal of described photoelectric coded disk is all electrically connected to near-earth control module.The execution detecting sensor of described execution robot is digital camera and range sensor, executive signal receiving trap is radiofrequency signal receiver module, executive signal emitter is emission of radio frequency signals module, carry out robot running gear and comprise the driving wheel that is fixed on the man-machine body of execution machine below, be arranged on the travel driving motor of carrying out the man-machine body lower surface of machine, described travel driving motor is in transmission connection by gear train and driving wheel, carrying out robot near-earth control module is single-chip microcomputer, described digital camera is arranged on described semisphere outer cover or the lower surface of casing.Described execution robot comprises sanitation robot, firefighting robot and transfer robot, the execution accessory of described sanitation robot also comprises broom and rotating clamp fitting, described semisphere external cover is located at the outside of rotating clamp fitting, in described rotating clamp fitting, be provided with micro-electric rotating machine, the output shaft of described micro-electric rotating machine is by STATEMENT OF FEDERALLY SPONSORED and described broom clamping, on the output shaft of described micro-electric rotating machine, be also provided with the photoelectric coded disk being electrically connected to near-earth control module, the driving circuit of described micro-electric rotating machine is also electrically connected to described near-earth control module; The execution accessory of described transfer robot also comprises pallet fork and connecting link, and the upper surface at described pallet fork middle part is fixedly connected with the lower end of connecting link, and the upper end of described connecting link and described semisphere outer cover are spirally connected; It is press device and palace lantern-type flame snuffer that the execution robot of described firefighting robot carries out accessory, and described semisphere external cover is located at the outside of palace lantern-type flame snuffer, and described press device is fixed on the front end of described moveable hinge fishplate bar.Described patrol robot ARM primary controller is electrically connected with several program storages by patrol robot commutation circuit 5, and described execution robot near-earth control module is also electrically connected with several program storages by carrying out robot commutation circuit.Be arranged on program storage on patrol robot and comprise a patrol that correct procedure is installed program storage 33 and several patrol student program storages 34 for debugging for demonstration, patrol demonstration is all electrically connected to patrol robot ARM primary controller by commutation circuit with program storage and patrol student program storage, be arranged on the program storage of carrying out in robot and comprise an execution that correct procedure is installed program storage 43 and several execution student program storages 44 for debugging for demonstration, carry out demonstration with program storage and carry out student's program storage and all by commutation circuit, be electrically connected to execution robot near-earth control module.Can arrange comparatively flexibly program that teacher writes and student's program, play the effect of quick switching, also reduce the burning number of times of program storage.And all programs can freely customize by student, be not only to allow student that several simple parameters are set, strengthened student's degree of freedom, encourage student think deeply as much as possible and innovate.Classmates can freely select the execution robot of corresponding function to carry out writing of program, are conducive to sharing out the work and help one another between student, have improved the utilization rate of teaching aid, have reduced instruction cost.Strengthened the sense of community between student.
A patrol robot instructional device control method, in the present embodiment patrol robot instructional device,
Step 1: device initialize, wait for artificial setting or change the work overview that need to complete;
Step 2: patrol robot receives task and goes on patrol on the spot, if do not find after having gone on patrol that task or task complete, jump procedure one, if discovery situation in patrol process performs step three;
Step 3: patrol robot sends instruction according to present case to corresponding execution robot, carries out robot and receives instruction, and judgement carries out robot and whether complete relevant work, if relevant work continues to perform step two otherwise continue execution step four;
Step 4: carry out robot and receive signal and start to carry out relevant work to relevant position, and field conditions is fed back, present case is fed back to patrol robot.
In described step 1, user artificially sets or changes the work overview that need to complete and then transfers to computer on remote controllers, by computer, is transmitted and is distributed.
Such robot system can solve robot and can only make and produce very large constraint according to a class environment or application, and he can be operated under multiple environment.This system is by greatly strengthening the adaptability of its environment to the design of patrol robot, makes cooperation between the robot possibility that becomes.The software section code of this system can be used c/c++ compile mode, bottom code encapsulates, and substantially carries out instruction encapsulation, the expansion port of designing program, student or user can select to add combination according to the demand of oneself, are applicable to student and operate in computer client.Cell-phone customer terminal is synchronizeed with computer, can send set instruction, and simultaneously timely collection information feedback.Use feedack clearer and more definite, the more acceptant and study of student.
Above-described embodiment is a kind of preferably scheme of the present invention, not the present invention is done to any pro forma restriction, also has other variant and remodeling under the prerequisite that does not exceed the technical scheme that claim records.
Claims (8)
1. a patrol robot instructional device, is characterized in that: comprise patrol robot, several carry out robot, remote controllers and computer, described patrol robot is connected with described compunlcation, described several are carried out robot and are also connected with described compunlcation, described remote controllers are connected with described compunlcation, and described patrol robot comprises the independent current source being arranged on the man-machine body of patrol machine, patrol signal receiving device, patrol sender unit, patrol robot travel mechanism, patrol detecting sensor and patrol robot ARM primary controller, patrol robot is powered by independent current source, described patrol robot ARM primary controller respectively with patrol signal receiving device, patrol sender unit, patrol robot travel mechanism and patrol detecting sensor are electrically connected to, and described execution robot includes and is arranged on the independent power supply of carrying out on the man-machine body of machine, carry out detecting sensor, executive signal receiving trap, executive signal emitter, carry out robot running gear and carry out robot and carry out accessory, carry out robot near-earth control module, described execution robot is by independent Power supply, described execution detecting sensor, executive signal receiving trap, executive signal emitter, carry out robot running gear and carry out robot execution accessory and be all electrically connected to described execution robot near-earth control module.
2. patrol robot instructional device according to claim 1, it is characterized in that: the body of described execution robot is the casing of opening upwards, described casing front side is moveable hinge fishplate bar, described execution robot carries out accessory and comprises the track being provided on box bottom, and swivel mount, crane, fixed arm, horizontal motor, electric rotating machine and lifting motor, the bottom of described crane is fixedly connected with horizontal motor, on horizontal motor output shaft, be connected with rail wheel, described rail wheel and described Orbit Matching, described crane comprises support body and brace table, in described support body, be provided with lifting motor, described lifting motor output shaft is connected with brace table by leading screw, upper surface and the electric rotating machine of brace table are fixed, the output shaft of described electric rotating machine is fixedly connected with one end of described fixed arm, the other end of described fixed arm is free end, on described free end, be provided with the semisphere outer cover that Open Side Down, on described semisphere outer cover, be provided with web member or shackle member, described horizontal motor, the driving circuit of electric rotating machine and lifting motor is all electrically connected to described near-earth control module, described horizontal motor, on the output shaft of electric rotating machine and lifting motor, be provided with photoelectric coded disk, the output terminal of described photoelectric coded disk is all electrically connected to near-earth control module.
3. patrol robot instructional device according to claim 2, it is characterized in that: the execution detecting sensor of described execution robot is digital camera and range sensor, executive signal receiving trap is radiofrequency signal receiver module, executive signal emitter is emission of radio frequency signals module, carry out robot running gear and comprise the driving wheel that is fixed on the man-machine body of execution machine below, be arranged on the travel driving motor of carrying out the man-machine body lower surface of machine, described travel driving motor is in transmission connection by gear train and driving wheel, carrying out robot near-earth control module is single-chip microcomputer, described digital camera is arranged on described semisphere outer cover or the lower surface of casing.
4. patrol robot instructional device according to claim 3, it is characterized in that: described execution robot comprises sanitation robot, firefighting robot and transfer robot, the execution accessory of described sanitation robot also comprises broom and rotating clamp fitting, described semisphere external cover is located at the outside of rotating clamp fitting, in described rotating clamp fitting, be provided with micro-electric rotating machine, the output shaft of described micro-electric rotating machine is by STATEMENT OF FEDERALLY SPONSORED and described broom clamping, on the output shaft of described micro-electric rotating machine, be also provided with the photoelectric coded disk being electrically connected to near-earth control module, the driving circuit of described micro-electric rotating machine is also electrically connected to described near-earth control module, the execution accessory of described transfer robot also comprises pallet fork and connecting link, and the upper surface at described pallet fork middle part is fixedly connected with the lower end of connecting link, and the upper end of described connecting link and described semisphere outer cover are spirally connected, it is press device and palace lantern-type flame snuffer that the execution robot of described firefighting robot carries out accessory, and described semisphere external cover is located at the outside of palace lantern-type flame snuffer, and described press device is fixed on the front end of described moveable hinge fishplate bar.
5. patrol robot instructional device according to claim 4, it is characterized in that: described patrol robot ARM primary controller is electrically connected with several program storages by patrol robot commutation circuit, described execution robot near-earth control module is also electrically connected with several program storages by carrying out robot commutation circuit.
6. patrol robot instructional device according to claim 5, it is characterized in that: be arranged on program storage on patrol robot and comprise a patrol that correct procedure is installed program storage and several patrol student program storages for debugging for demonstration, patrol demonstration is all electrically connected to patrol robot ARM primary controller by commutation circuit with program storage and patrol student program storage, be arranged on the program storage of carrying out in robot and comprise an execution that correct procedure is installed program storage and several execution student program storages for debugging for demonstration, carry out demonstration with program storage and carry out student's program storage and all by commutation circuit, be electrically connected to execution robot near-earth control module.
7. a patrol robot instructional device control method, is applicable to patrol robot instructional device as claimed in claim 4, it is characterized in that:
Step 1: device initialize, wait for artificial setting or change the work overview that need to complete;
Step 2: patrol robot receives task and goes on patrol on the spot, if do not find after having gone on patrol that task or task complete, jump procedure one, if discovery situation in patrol process performs step three; Step 3: patrol robot sends instruction according to present case to corresponding execution robot, carries out robot and receives instruction, and judgement carries out robot and whether complete relevant work, if relevant work continues to perform step two otherwise continue execution step four;
Step 4: carry out robot and receive signal and start to carry out relevant work to relevant position, and field conditions is fed back, present case is fed back to patrol robot.
8. patrol robot instructional device according to claim 7, is characterized in that: in described step 1, user artificially sets or changes the work overview that need to complete and then transfers to computer on remote controllers, by computer, is transmitted and is distributed.
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| CN117826737A (en) * | 2024-03-04 | 2024-04-05 | 成都思越智能装备股份有限公司 | Operation scheduling method of detection device crossing multiple conveying systems |
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| CN102662377A (en) * | 2012-05-17 | 2012-09-12 | 哈尔滨工业大学 | Formation system and formation method of multi-mobile robot based on wireless sensor network |
| CN202771260U (en) * | 2012-09-05 | 2013-03-06 | 浙江大学 | Intelligent safety patrol system based on DaNI mobile robot platform |
| CN202917898U (en) * | 2012-12-05 | 2013-05-01 | 山东电力集团公司电力科学研究院 | Divided conductor patrol work robot platform |
| CN203275971U (en) * | 2013-04-27 | 2013-11-06 | 湖南科技大学 | Outdoor ground swarm-robot control system |
| CN103340190A (en) * | 2013-05-29 | 2013-10-09 | 西北农林科技大学 | Orchard real-time spraying-feeding-maintaining multiple-robot system |
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| CN111482965A (en) * | 2020-04-24 | 2020-08-04 | 深圳国信泰富科技有限公司 | Remote control system and method for robot |
| CN117826737A (en) * | 2024-03-04 | 2024-04-05 | 成都思越智能装备股份有限公司 | Operation scheduling method of detection device crossing multiple conveying systems |
| CN117826737B (en) * | 2024-03-04 | 2024-05-14 | 成都思越智能装备股份有限公司 | Operation scheduling method of detection device crossing multiple conveying systems |
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